Hi,
Thanks for your inquiry.
You can detect the position of your box and then change BNO055 axis remap settings. After you apply motion with a little rotation in 3D space, BNO055 will calibrate the magnetometer automatically due to the NDOF FMC (fast magnetometer calibration) mode. Gyro calibration will be done automatically whenever your box is stationary. Please refer to https://www.bosch-sensortec.com/media/boschsensortec/downloads/application_notes_1/bst-bno055-an007.pdf for more information. So you don't need to worry about the recalibration of BNO055 when axis remap is changed.
Thanks.
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